System and method for real-time mapping of an indoor environment using mobile robots with limited sensing

摘要

A system and method for real-time mapping of an indoor environment using mobile robots with limited sensing are provided. Raw trajectory data comprising a plurality of trajectory points is received (21) from wall-following. Trace segmentation is applied (22) to the raw trajectory data to generate line segments. The line segments are rectified (23) to one another. A map is generated (25) from the rectified line segments.